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报告题目1:A Robust Distributed Model Predictive Control Framework for Consensus of Multi-Agent Systems with Varying Delays and Input Constraints


报告人:Yang Shi

报告时间:202268日星期三 13:00



In the past two decades, much research effort has been devoted to the distributed coordination of the multi-agent systems (MAS) since it finds broad applications in numerous areas such as connected vehicles, smart grids, and sensor networks. As one of the fundamental control problems for the MAS, consensus requires that all agents achieve an agreement of common interest based on the local and neighboring information. Nonetheless, reaching consensus becomes more challenging when the MASs are subject to constraints and varying communication delays in real-world applications. In this talk, the consensus problem of a general linear discrete-time MAS with input constraints and bounded time-varying communication delays will be discussed, and a robust distributed model predictive control (DMPC) framework for consensus, integrating the offline consensus design with online DMPC optimization to exploit their respective advantages, will be proposed. Specifically, each agent is equipped with an offline consensus protocol depending on its immediate neighbors' estimated states. Then, the estimation errors propagated over time due to inexact neighboring information are proved bounded under some mild assumptions. Further, a robust DMPC strategy is deliberately designed to achieve robust consensus while satisfying input constraints. It is theoretically shown that, with the suitably designed cost function and constraints, the feasibility of the associated optimization problem can be recursively ensured. We further provide the consensus convergence result of the constrained MAS in the presence of bounded varying delays. Simulations examples illustrate the effectiveness of the developed method.


Yang Shi received the Ph.D. degree in electrical and computer engineering from the University of Alberta, Edmonton, AB, Canada, in 2005. From 2005 to 2009, he was an Assistant Professor and Associate Professor in the Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Saskatchewan, Canada. In 2009, he joined the University of Victoria, and now he is a Professor in the Department of Mechanical Engineering, University of Victoria, Victoria, British Columbia, Canada. His current research interests include networked and distributed systems, model predictive control (MPC), cyber-physical systems (CPS), robotics and mechatronics, navigation and control of autonomous systems (AUV and UAV), and energy system applications.

Dr. Shi received the University of Saskatchewan Student Union Teaching Excellence Award in 2007. At the University of Victoria, he received the Faculty of Engineering Teaching Excellence in 2012, and the Craigdarroch Silver Medal for Excellence in Research in 2015. He received the JSPS Invitation Fellowship (short-term), and was a Visiting Professor at the University of Tokyo during Nov-Dec 2013. His co-authored paper was awarded the 2017 IEEE Transactions on Fuzzy Systems Outstanding Paper Award. He received the Humboldt Research Fellowship for Experienced Researchers in 2018. He is a member of the IEEE IES Administrative Committee during 2017-2019, and the founding Vice Chair of IEEE IES Technical Committee on Industrial Cyber-Physical Systems. Currently, he is Co-Editor-in-Chief for IEEE Transactions on Industrial Electronics; he also serves as Associate Editor for Automatica, IEEE Trans. Automatic Control, IEEE Trans. Cybernetics, etc. He is a Fellow of IEEE, ASME and CSME, and a registered Professional Engineer in British Columbia, Canada. He is a Fellow of Engineering Institute of Canada (EIC).

施阳博士,1998年于西北工业大学获得博士学位;2005年于加拿大阿尔伯塔大学获得电子与计算机工程博士学位。2005-2009在加拿大萨斯喀彻温大学任助理教授及副教授;目前为加拿大维多利亚大学机械工程系终身教授。 施阳博士的研究集中于工业信息物理系统、网络及分布式控制系统、模型预测控制、机电系统及机器人系统设计与控制、能源系统的优化调度与控制等。

2007获得加拿大萨斯喀彻温大学十佳教学奖;2012年获得维多利亚大学工学院最佳教学奖。2015年获得维多利亚大学年度唯一的最佳研究银奖(Craigdarroch Silver Medal)2013年获得日本学术振兴会特邀访问教授奖;2017年获得德国洪堡研究基金。他与学生合著的论文获得2017IEEE Transactions on Fuzzy Systems年度最佳论文奖。目前任IEEE工业电子学会工业信息物理系统技术委员会主席,担任IEEE Transactions on Industrial Electronics的共同主编(Co-Editor-in-Chief),任多家国际期刊的副编辑,包括:Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Cybernetics等。

施阳教授是加拿大工程研究院Fellow (Fellow of Engineering Institute of Canada),是IEEE Fellow(国际电子电器工程师协会), ASME Fellow(美国机械工程师协会)CSME Fellow(加拿大机械工程师协会)。